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公开(公告)号：US12158519B2
公开(公告)日：2024-12-03
申请号：US18456097
申请日：2023-08-25
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews
IPC: G01S13/89 , G01S13/931
Abstract: Example embodiments relate to self-reflection filtering techniques within radar data. A computing device may use radar data to determine a first radar representation that conveys information about surfaces in a vehicle's environment. The computing device may use a predefined model to generate a second radar representation that assigns predicted self-reflection values to respective locations of the environment based on the information about the surfaces conveyed by the first radar representation. The predefined model can enable a predefined self-reflection value to be assigned to a first location based on information about a surface positioned at a second location and a relationship between the first location and the second location. The computing device may then modify the first radar representation based on the predicted self-reflection values in the second radar representation and provide instructions to a control system of the vehicle based on modifying the first radar representation.
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公开(公告)号：US12140962B2
公开(公告)日：2024-11-12
申请号：US18200243
申请日：2023-05-22
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Christian Lauterbach , Scott McCloskey , Peter Morton
Abstract: The technology relates to developing a highly accurate understanding of a vehicle's sensor fields of view in relation to the vehicle itself. A training phase is employed to gather sensor data in various situations and scenarios, and a modeling phase takes such information and identifies self-returns and other signals that should either be excluded from analysis during real-time driving or accounted for to avoid false positives. The result is a sensor field of view model for a particular vehicle, which can be extended to other similar makes and models of that vehicle. This approach enables a vehicle to determine when sensor data is of the vehicle or something else. As a result, the detailed modeling allowing the on-board computing system to make driving decisions and take other actions based on accurate sensor information.
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公开(公告)号：US12130389B2
公开(公告)日：2024-10-29
申请号：US17198020
申请日：2021-03-10
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Scott McCloskey
CPC classification number: G01S7/497 , G01S7/4813 , G02B27/0006 , G01S2007/4977
Abstract: One example method involves rotating a housing of a light detection and ranging (LIDAR) device about a first axis. The housing includes a first optical window and a second optical window. The method also involves transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device. The method also involves transmitting a second plurality of light pulses through the second optical window to obtain a second scan of the FOV. The method also involves identifying, based on the first scan and the second scan, a portion of the FOV that is at least partially occluded by an occlusion.
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公开(公告)号：US20240134054A1
公开(公告)日：2024-04-25
申请号：US18535933
申请日：2023-12-11
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen , Xiaoxiang Hu
IPC: G01S17/931 , B60W30/09 , B60W30/095 , B60W60/00 , G01S17/06 , G01S17/50 , G01S17/58 , G01S17/89
CPC classification number: G01S17/931 , B60W30/09 , B60W30/0956 , B60W60/001 , G01S17/06 , G01S17/50 , G01S17/58 , G01S17/89 , B60W2554/20 , B60W2554/4029 , G01S17/04
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.
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公开(公告)号：US20220137227A1
公开(公告)日：2022-05-05
申请号：US17087464
申请日：2020-11-02
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews , Mingcheng Chen , Xiaoxiang Hu
IPC: G01S17/931 , G01S17/58 , G01S17/89 , B60W60/00 , B60W30/095 , B60W30/09
Abstract: Aspects and implementations of the present disclosure address shortcomings of the existing technology by enabling Doppler-assisted segmentation of points in a point cloud for efficient object identification and tracking in autonomous vehicle (AV) applications, by: obtaining, by a sensing system of the AV, a plurality of return points comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system, the one or more velocity values and the one or more coordinates obtained for the same instance of time, identifying that the set of the return points is associated with an object in an environment, and causing a driving path of the AV to be determined in view of the object.
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Patent Agency Ranking
公开(公告)号：US12280803B2
公开(公告)日：2025-04-22
申请号：US18608300
申请日：2024-03-18
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews
Abstract: The technology relates to determining a source of a horn honk or other noise in an environment around one or more self-driving vehicles. Aspects of the technology leverage real-time information from a group of self-driving vehicles regarding received acoustical information. The location and pose of each self-driving vehicle in the group, along with the precise arrangement of acoustical sensors on each vehicle, can be used to triangulate or otherwise identify the actual location in the environment for the origin of the horn honk or other sound. Other sensor information, map data, and additional data can be used narrow down or refine the location of a likely noise source. Once the location and source of the noise is known, each self-driving vehicle can use that information to modify current driving operations and/or use it as part of a reinforcement learning approach for future driving situations.
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公开(公告)号：US12159451B2
公开(公告)日：2024-12-03
申请号：US17947563
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Brandyn White , Congyu Gao , Sean Rafferty , Nicholas Armstrong-Crews
IPC: G06V20/56 , B60W60/00 , G01C21/36 , G06F18/214 , G06V10/774 , G06V20/58 , H04W4/021
Abstract: Aspects of the disclosure provide for automatically generating labels for sensor data. For instance first sensor data for a first vehicle is identified. The first sensor data is defined in both a global coordinate system and a local coordinate system for the first vehicle. A second vehicle is identified based on a second location of the second vehicle within a threshold distance of the first vehicle within the first timeframe. The second vehicle is associated with second sensor data that is further associated with a label identifying a location of an object, and the location of the object is defined in a local coordinate system of the second vehicle. A conversion from the local coordinate system of the second vehicle to the local coordinate system of the first vehicle may be determined and used to transfer the label from the second sensor data to the first sensor data.
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公开(公告)号：US12044781B2
公开(公告)日：2024-07-23
申请号：US18166550
申请日：2023-02-09
Applicant: Waymo LLC
Inventor： Blaise Gassend , Scott McCloskey , Stephen Osborn , Nicholas Armstrong-Crews
IPC: G01S17/931 , G01S7/4861 , G01S17/10 , G01S17/89 , G05D1/00
CPC classification number: G01S17/931 , G01S7/4861 , G01S17/10 , G01S17/89 , G05D1/0088
Abstract: Example implementations may relate to determining a strategy for a drop process associated with a light detection and ranging (LIDAR) device. In particular, the LIDAR device could emit light pulses and detect return light pulses, and could generate a set of data points representative of the detected return light pulses. The drop process could involve a computing system discarding data point(s) of the set and/or preventing emission of light pulse(s) by the LIDAR device. Accordingly, the computing system could detect a trigger to engage in the drop process, and may responsively (i) use information associated with the environment around the vehicle, operation of the vehicle, and/or operation of the LIDAR device as a basis to determine the strategy for the drop process, and (ii) engage in the drop process in accordance with the determined strategy.
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公开(公告)号：US11958505B2
公开(公告)日：2024-04-16
申请号：US16934132
申请日：2020-07-21
Applicant: Waymo LLC
Inventor： Nicholas Armstrong-Crews
CPC classification number: B60W60/0016 , B60W40/02 , B60W50/06 , G06N5/04 , G06N20/00 , G10L25/51 , H04R1/406 , H04R3/005 , B60W2420/54 , B60W2556/45 , H04R2201/401 , H04R2499/13
Abstract: The technology relates to determining a source of a horn honk or other noise in an environment around one or more self-driving vehicles. Aspects of the technology leverage real-time information from a group of self-driving vehicles regarding received acoustical information. The location and pose of each self-driving vehicle in the group, along with the precise arrangement of acoustical sensors on each vehicle, can be used to triangulate or otherwise identify the actual location in the environment for the origin of the horn honk or other sound. Other sensor information, map data, and additional data can be used narrow down or refine the location of a likely noise source. Once the location and source of the noise is known, each self-driving vehicle can use that information to modify current driving operations and/or use it as part of a reinforcement learning approach for future driving situations.
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公开(公告)号：US20240111054A1
公开(公告)日：2024-04-04
申请号：US18194758
申请日：2023-04-03
Applicant: Waymo LLC
Inventor： Blaise Gassend , Nicholas Armstrong-Crews , Andreas Wendel , Benjamin T. Ingram , Clayton Kunz
CPC classification number: G01S17/89 , G01S7/4817 , G01S17/10
Abstract: One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.
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